JP5545932B2 - 3D shape measuring device - Google Patents

Description

  The present invention relates to an apparatus for measuring a three-dimensional shape, and more particularly to a three-dimensional shape measuring apparatus suitable for human body authentication and measurement.

In recent years, personal authentication technology has been rapidly put into practical use in order to improve safety and security and to enhance confidentiality. In this personal authentication, three-dimensional measurement of a living body is used. In this three-dimensional measurement of the living body, the time from when the living body is irradiated with laser light until the reflected light returns, the distance is measured, and light with a regular pattern is projected onto the object. There is a pattern projection method for measuring the shape of an object based on a change in the pattern seen by the camera.
However, in measurement of a living body, in particular, a face or the like, the facial expression changes or moves instantaneously during measurement, so these measurements are not sufficient to cope with the change.

  On the other hand, in a production site such as a factory, a three-dimensional shape measuring device is used for inspection of the printed state of cream solder and inspection of product shape. In this three-dimensional shape measuring apparatus, there is an apparatus that projects a plurality of phase-changing light patterns obliquely from above onto a printed circuit board and inspects the printing state of cream solder printed on the printed circuit board (for example, Patent Document 1). reference.).

In addition, as shown in FIG. 12, two or more light component patterns are simultaneously irradiated from the illumination device 120 to the measurement object 140, and the two or more reflected lights are emitted from the CCD camera as the imaging device 130. There is a three-dimensional shape measuring device that takes a picture and calculates the height of the measurement object by calculating based on the relative phase angle of the reflected light pattern and the image data by the control device 150 which is an arithmetic device (for example, Patent Documents). 2). Also in the measurement method of this like, in order to improve accuracy, by changing the phase, every time that the respective changing a plurality of phase, must be taken, for those the shape of the measuring object such as a living body has changed Rapid measurements were not sufficient.

Japanese Patent No. 2711042 Japanese Patent No. 3878033

  Therefore, the present invention intends to provide a three-dimensional measuring apparatus that has a high spatial resolution function and is free of blurring by acquiring data with three different phases in a single measurement even when measuring a living body or the like. It is.

In order to solve the above-mentioned problem, the present invention of claim 1 irradiates a measurement object with red, green, and blue light component patterns each having a phase shift of 2π / 3 at the same period,
Imaging means for imaging reflected light from the measurement object;
The reflected light at each coordinate of the image data captured by the imaging means is decomposed into red, green and blue light component patterns, and the luminance data of the red, green and blue light component patterns is calculated, In such a way that each luminance data becomes a constant value and is distributed at equal intervals in a circular shape on a plane parallel to red + green + blue = 0 in a three-dimensional space of red, green, and blue. Three-dimensional shape information is calculated by calculating the correction parameter, correcting the luminance data of the red, green, and blue light component patterns captured by the imaging means based on the correction parameter, calculating the phase information of the measurement object Having an arithmetic means for calculating
The luminance data calculation means extracts representative values of the luminance data of the red, green, and blue light component patterns at each coordinate obtained by decomposing the image data captured by the imaging means, and represents the representative values of red, green , red as the sum of the luminance data of the light component pattern of blue becomes a constant value, a green, so that the total of the luminance data of the light component pattern of blue becomes a constant value, the representative value of the luminance data, red, green The brightness data of the red, green, and blue light component patterns in the plot point group plotted in the three-dimensional space of blue, red + green + blue = 0 in the three-dimensional space of red, green, and blue = 0 Projective transformation is performed on a plane parallel to, and coordinate transformation is performed to two-dimensional X and Y coordinates, so that the number of plot points distributed in the X and Y coordinates obtained by projective transformation is equal in the circumferential direction. Divided into groups, grouped, and the center of gravity for each group The group is extracted as a representative value of the group, and the correction parameter is calculated and the correction parameter is calculated so that the representative value of the group is distributed at equal intervals in a circle centered on the origin of the XY coordinates . Correct the luminance data of the red, green and blue light component patterns at each coordinate of the image data captured using the correction parameters, calculate the phase information of the measurement object,
The correction parameter calculation is performed at each coordinate obtained by projecting a color pattern onto a white plane and decomposing the image data captured by the imaging unit in order to correct the white balance of the irradiation unit and the spectral characteristics of the imaging unit. Luminance data of red, green, and blue light component patterns is plotted as a set of plot points plotted in a three-dimensional space of red, green, and blue. the luminance data of the light component pattern, performs red, green, and projective transformation onto red + blue + green = 0 parallel to a plane in the three dimensional space of the blue, two-dimensional X, the coordinate transformation in the Y-coordinate, luminance In addition to extracting representative values of the data, the plot point group distributed to the X and Y coordinates obtained by projective transformation of the luminance data is divided so as to have an equal number of points in the circumferential direction, and grouped. For each group Cubic characterized in that the center of gravity is obtained and extracted as a representative value of the group, and the correction parameter is calculated so that the representative value of the group is distributed at equal intervals in a circle centered on the origin of the XY coordinates. This is an original shape measuring device.

In the first aspect of the present invention, irradiation means for projecting light component patterns of red, green, and blue whose phases are shifted by 2π / 3 at the same period with respect to the measurement object, and reflected light from the measurement object are provided. And imaging means for imaging. For this reason, conventionally, when imaging light component patterns having different phases, it took time to capture each time the phases differ. However, three light component patterns having different phases are measured at a time with one imaging. Image pickup time can be shortened. Further, since only one imaging is required, it is possible to eliminate variations due to time of light component patterns having different phases.
Since light component patterns of red, green, and blue whose phases are shifted by 2π / 3 in the same cycle are used, the total light intensity is made constant in each phase, as described later. Component correction is easy.

The reflected light at each coordinate of the image data picked up by the image pickup means is decomposed into the above red, green, and blue light component patterns, and the luminance data of the red, green, and blue light component patterns is calculated, and the total of each luminance is calculated. The correction parameter is calculated so that becomes a constant value, and based on the correction parameter, the luminance data of the red, green and blue light component patterns captured by the imaging means is corrected, and the phase information of the measurement object is calculated. And calculating means for calculating information of the three-dimensional shape.
Therefore, accurate correction can be performed using the three luminance data of the red, green, and blue light component patterns, and the color sensitivity of the projector as the irradiation unit and the camera as the imaging unit can be corrected with one correction. The color reproduction characteristics can be corrected simultaneously . Therefore, it is easy to set the projector as the irradiation means and the camera as the imaging means at the time of measurement, and it is possible to improve the accuracy of the three-dimensional shape information by calculating the phase information from the corrected luminance data. . It is also possible to measure the three-dimensional shape information continuously in time series.

According to the first aspect of the present invention, the correction parameters are calculated so that the sum of the luminance data of the representative light component patterns of red, green, and blue becomes a constant value. For this reason, the calculation of the representative value of the correction parameter is quick and easy to correct, and the irradiation unit, the imaging unit, and the measurement object can be corrected simultaneously.

  The luminance data of the red, green and blue light component patterns at each coordinate of the image data captured using the correction parameter of the representative value is corrected, and the phase information of the measurement object is calculated. Therefore, the correction of the luminance data of the red, green, and blue light component patterns at each coordinate can be performed according to each coordinate using correction parameters close to each coordinate, and the irradiation unit, the imaging unit, and the measurement target Variations in luminance data generated from the object can be minimized, accurate data of the phase information of the measurement object can be obtained, and high-precision and quick measurement can be performed.

According to the first aspect of the present invention, in the calculation of the correction parameters, by representing the coordinate group into two-dimensional X and Y coordinates and calculating the points so as to be distributed at equal intervals in a circular shape, an appropriate number of groups can be represented. By calculating the value parameter and correcting the luminance data of the red, green, and blue light component patterns using the representative value parameter, it is possible to perform accurate correction calculation.

The present invention of claim 2 is a three-dimensional shape measuring apparatus which is an image pickup means for picking up an image of reflected light from a measurement object by intermittently picking up red, green and blue light component patterns.

According to the present invention of claim 2 , the reflected light from the measurement object is obtained by correcting the measurement data of the measurement object only by intermittently capturing red, green, and blue light component patterns. Therefore, it is possible to perform a quick measurement, intermittently image data, and perform accurate measurement and authentication even when a measurement object such as a human body is likely to change.

The third aspect of the present invention is a three-dimensional shape measuring apparatus that is an imaging unit that continuously captures red, green, and blue light component patterns for imaging reflected light from a measurement object.

According to the third aspect of the present invention, the reflected light from the measurement object is obtained by continuously correcting the measurement data of the measurement object in order to continuously pick up the red, green, and blue light component patterns. Therefore, it is possible to accurately measure changes in the measurement object, capture a moving image, and realize a real-time three-dimensional measurement apparatus.

According to a fourth aspect of the present invention, the imaging means is a three-dimensional shape measuring apparatus which is a color camera.

In the present invention of claim 4 , since the image pickup means is a color camera, the light component pattern of red, green and blue can be measured at the same time with a simple device, and a moving image can be taken. You can also.

The present invention of claim 5 is the three-dimensional shape measuring apparatus in which the irradiation means is a strobe light emitter.

In the present invention of claim 5 , since the irradiation means is a strobe light emitter, it is strong against disturbance light, can be photographed instantaneously, is easy to measure, and does not place a burden on the measurement subject. Shake during measurement can be eliminated.

The present invention according to claim 6 is the three-dimensional shape measuring apparatus in which the irradiation means is a continuous lighting lamp light emitter.

In the present invention of claim 6 , since the irradiating means is a continuous lighting lamp light emitter, it can shoot continuously and can also shoot moving images.

The present invention of claim 7 is a three-dimensional shape measuring apparatus in which the measurement object is a part of a human body.

In this invention of Claim 7 , since a measuring object is a part of human body, even if it moves or changes during a measurement, it can measure reliably and can authenticate reliably.

Projects and captures red, green, and blue light component patterns, each with a phase shift of 2π / 3 at the same period, and measures the light component patterns with different phases at one time. Measurement time can be shortened, and variations can be eliminated.
Since red, green, and blue light component patterns having phases shifted by 2π / 3 at the same period are used, the total luminance of light can be made constant in each phase, and correction is easy.

The luminance data of the red, green, and blue light component patterns at each coordinate of the image data captured by the imaging unit is calculated to obtain a correction parameter, and the luminance data captured by the imaging unit is corrected based on the correction parameter. Thus, since the information of the three-dimensional shape is calculated, the correction of the irradiation unit and the imaging unit can be performed at the same time by one correction .

1, showing an embodiment of the present invention, is a schematic diagram showing an overall configuration of a three-dimensional measuring apparatus. FIG. 4 is a graph showing an embodiment of the present invention and showing red, green, and blue light component patterns in which the phase irradiated from the irradiation device of the three-dimensional measuring device is shifted by 2π / 3. FIG. 4 shows an embodiment of the present invention, in which red, green, and blue light component patterns in which the phase of reflected light from a measurement object ideally observed by an imaging apparatus of a three-dimensional measurement apparatus is shifted by 2π / 3 are shown. It is a graph which shows a brightness | luminance. 4 shows an embodiment of the present invention, and the luminances of red, green, and blue light component patterns in which the phase of reflected light from a measurement object actually observed by an imaging device of a three-dimensional measurement device is shifted by 2π / 3 It is a graph which shows. FIG. 4 shows an embodiment of the present invention, in which red, green, and blue light component patterns in which the phase of reflected light from a measurement object ideally observed by an imaging apparatus of a three-dimensional measurement apparatus is shifted by 2π / 3 are shown. It is the graph which plotted the brightness | luminance on the planar shape parallel to red + blue + green = 0 in the three-dimensional space of red, green, and blue. 4 shows an embodiment of the present invention, and the luminances of red, green, and blue light component patterns in which the phase of reflected light from a measurement object actually observed by an imaging device of a three-dimensional measurement device is shifted by 2π / 3 Is plotted in a plane parallel to red + blue + green = 0 in a three-dimensional space of red, green, and blue. FIG. 7 shows an embodiment of the present invention, and is a graph plotted by converting the plot point group in FIG. 6 into an XY coordinate system. FIG. 8 shows an embodiment of the present invention, and is a graph in which the plot point group in FIG. 7 is divided so as to have an equal number of points in the circumferential direction, grouped and each center of gravity is plotted as a representative value, and its representative It is the graph which converted and plotted the value to the point distributed at equal intervals on the circle centering on the origin of an XY coordinate. The embodiment of the present invention, the luminance of the light component pattern of red, green, and blue in which the phase of the reflected light from the measurement object actually observed by the imaging device of the three-dimensional measuring device is shifted and the luminance It is a graph which calculates and shows phase information from. 9 is a graph showing the embodiment of the present invention, in which the luminance of the red, green, and blue light component patterns in FIG. 9 is plotted as the luminance of the red, green, and blue light component patterns that are converted and corrected using parameters. And a graph showing calculated luminance phase information after conversion. FIG. 9 is a graph illustrating an embodiment of the present invention and showing variations in depth measurement values of one line on a reference plane based on luminance phase information after conversion. It is a schematic diagram which shows the whole structure of the conventional three-dimensional measuring apparatus.

An embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the three-dimensional measuring apparatus 1 of the present invention includes an irradiating device 20 that is an irradiating unit that irradiates light to the measuring object 40, and an imaging unit that captures reflected light from the measuring object 40. And a control device 50 that has a calculation means for controlling the irradiation device 20 and calculating data from the imaging device 30.

  The irradiation device 20 includes a light-emitting unit 21 that is a light source, a condensing lens 22 that condenses the light from the light-emitting unit 21, and red and green whose phases are shifted by 2π / 3 in the same cycle. The project pattern 23 is a blue light component pattern, and the projection lens 24 projects the light from the project pattern 23 onto the measurement target 40. The light emitting unit 21 is connected to a control device 50 and an irradiation cable 51 described later.

  The light emitting unit 21 which is a part of the irradiation means can use a strobe light emitting device that emits light for each shot. In this case, the measurement object 40, for example, the human body, in particular, the face, etc. can be photographed instantaneously, and even if the face is shaken or moved, the measurement is easy and is the same as a normal snapshot. Measurement can be performed with the same feeling as described above, and shake during measurement can be reduced without imposing a burden on the measurement subject. In addition, disturbance of measurement data due to ambient light can be prevented. Light emission of the light emitting unit 21 is controlled by the control device 50, and a signal is sent to the light emitting unit 21 via the irradiation cable 51 to emit light.

  Moreover, the light emission part 21 which is an irradiation means can use the lighting lamp light-emitting machine which lights continuously. In this case, the measurement object 40, for example, a human body, particularly a face, can be continuously photographed, and a moving image can also be photographed. Therefore, three-dimensional measurement can be performed in real time.

  As described above, the project pattern 23 that is a part of the irradiation unit is configured to use red, green, blue, and the like. The light from the condenser lens 22 is shifted by 2π / 3 in the same cycle using, for example, a filter. The light component pattern is decomposed. That is, red, green, and blue filters are used, and the red filter transmits light so that the luminance of red light changes to a sine wave. The blue filter transmits the blue light so that the luminance of the blue light changes to a sine wave and the blue phase is shifted by 2π / 3 from the red phase. Further, the green filter transmits the light so that the luminance of the green light changes to a sine wave and the green phase is shifted by 2π / 3 from the blue phase. It should be noted that other means than the filter can be used.

  In this way, the luminances of red, green, and blue light projected from the projection lens 24 have the same period and the same amplitude (maximum value) as shown in FIG. Is shifted by 2π / 3. For this reason, the sum of the luminances of red, green, and blue light can be constant at any point in each phase.

Then, red, green, and blue light projected from the projection lens 24 is irradiated to the measurement object 40. In FIG. 1, a flat plate-like body is used to measure the reference plane, but a measuring object 40 having three-dimensional irregularities such as a human body can be used.
The red, green, and blue light irradiated on the measurement object 40 is reflected and imaged by the imaging device 30.

  The imaging device 30 includes an imaging lens 31 and a color camera 32. The red, green, and blue light reflected from the measurement object 40 passes through the imaging lens 31 and is imaged by the color camera 32. The color camera 32 can continuously shoot with either a strobe light source or a continuous light source. For this reason, the measurement object 40 can be continuously recorded for a long time.

An image picked up by the color camera 32 is sent to a personal computer as the control device 50 through the image pickup cable 52. The image is decomposed into red, green, and blue light components by the control device 50 and processed by phase soft calculation described later. Here, R, G, and B are red, green, and blue light components, respectively.
When the brightness of the red, green, and blue light components of the image captured by the color camera 32 is ideally measured, as shown in FIG. 3, each of the emitted red, green, and blue lights The luminance of the component pattern indicates a sine wave having the same amplitude and a phase shifted by 2π / 3 in the same cycle.

  However, since the white balance of the irradiation device 20 to be projected, the spectral characteristics of the color camera 32 of the imaging device 30, the color of the measurement object 40, etc., the light component patterns of red, green, and blue actually observed are affected. As shown in FIG. 4, the luminance of the red, green, and blue light component patterns have different sine wave amplitude values, or the phase shift does not become 2π / 3. . This phenomenon becomes a large error factor in the phase calculation of the measurement object 40. For this reason, as will be described below, in the control device 50 having the calculation means, calculation is performed to correct the luminance of each light component pattern of red, green, and blue. The control device 50 can be used with either a notebook type or desktop type personal computer.

得られた画像の各画素について式(４)により位相情報θを計算する。ここで、αは正弦波パターンの振幅，βはオフセット成分，

はシフト位相量，Ｉ_Ｒ、Ｉ_Ｇ、Ｉ_Ｂはカラーカメラ３２で取得した赤、緑、青のチャンネルそれぞれの成分の輝度である。θは、位相情報である。 First, the phase information of the image sent from the color camera 32 is calculated based on the luminance of each light component pattern of red, green, and blue. The calculation is performed by the following formulas (1) to (4).
I _R = αcos (θ−ψ) + β (1)
I _G = α cos θ + β (2)
I _R = αcos (θ + ψ) + β (3)

For each pixel of the obtained image, the phase information θ is calculated by equation (4). Where α is the amplitude of the sine wave pattern, β is the offset component,

Is the shift phase amount, and I _R , I _G , and I _B are the luminances of the components of the red, green, and blue channels acquired by the color camera 32. θ is phase information.

  Since the obtained phase information repeats the same period information, it is necessary to obtain an absolute phase by phase connection processing. First, the phase information image is divided into regions that are continuously changed in the same region. Each obtained area is numbered by a labeling process, and the adjacent / front-and-rear state of the label is checked from the center of gravity position of each label area, and each label is numbered in turn in order. Perform the concatenation process.

Then, for correction, a color pattern is projected onto a white plane as a reference, and shooting is performed by the imaging device 30. The luminance values of red, green, and blue at this time are set as the respective axes of the three-dimensional space, and the luminance at each coordinate of the obtained image is plotted on the three-dimensional space.
In the ideal 2π / 3 shift pattern, it is known that the sum of the luminance values of red, green, and blue is constant at any point. As shown in FIG. Plotted as a circle on a plane parallel to red + blue + green = 0 in space. However, as described above, in the actually observed image, a deviation occurs from the ideal 2π / 3 shift pattern. Similarly, when the luminance values of red, green, and blue are plotted on the space, as shown in FIG. Distributed in a distorted donut shape.

  Therefore, the plot point group shown in FIG. 6 is corrected to be a circle on the plane of red + blue + green = 0. In this correction, a correction parameter is obtained as follows, and the observed luminance value is corrected to an ideal red, green, and blue pattern. Thereby, the error in phase calculation can be reduced.

As a procedure for luminance correction, as shown in FIG. 7, first, the obtained plot point group in the three-dimensional space is projectively transformed to a plane of red + blue + green = 0, and the coordinates are converted to two-dimensional coordinates (X, Y). Perform conversion. The projective transformation at this time is calculated using Equation (5).

  The plot point group distributed to the XY coordinates obtained by projective transformation is divided so that the number of points is equal in the circumferential direction, grouped, the center of gravity is obtained for each group, and the representative value of the group To do. This representative value plotted on two-dimensional coordinates is the graph before conversion in FIG. Before conversion, the graph is not a circle but a distorted shape.

The representative value data obtained at this time are distributed at equal intervals in a circle with a radius R centered on the origin (0, 0) of the XY coordinates so as to be a circle shown in the graph after conversion in FIG. Convert to
As a parameter used for the conversion, a magnification conversion parameter r based on the origin of XY and a rotation conversion parameter φ centered on the origin are used to perform conversion using equation (6). Here, X and Y are representative points before conversion, and X ′ and Y ′ are representative points after conversion.

これは単純な拡大変換と回転変換であるため、パラメータｒ，φは式（７）より変換前後の座標（Ｘ，Ｙ）と（Ｘ’，Ｙ’）から独立して求めることができる。

式(7)を用いて代表点ごとにr，φを求める。

Since this is a simple enlargement transformation and rotation transformation, the parameters r and φ can be obtained independently from the coordinates (X, Y) and (X ′, Y ′) before and after the transformation from the equation (7).

Calculate r and φ for each representative point using Equation (7).

Conversion at the time of actual measurement is performed using the r and φ parameters of each representative point obtained in advance. A point obtained by converting the RGB luminance value at a certain position of the photographed image into an XY point by the equation (5) is defined as (x, y). Of the above-mentioned representative points, two points close to (x, y) are selected, and parameters of points to be actually converted are obtained using linear interpolation. When the selected representative points are (X ₁ , Y ₁ ) and (X ₂ , Y ₂ ), and the conversion parameters at that time are (φ ₁ , r ₁ ) and (φ ₂ , r ₂ ), respectively, the point (x , Y), the transformation parameters (φ ^′ , r ^′ ) are obtained using equation (8). Correction is performed from Equation (6) using the obtained parameters.

The converted XY coordinate points are converted into points on a three-dimensional space of red, green, and blue using Equation (9) to obtain corrected red, green, and blue luminances.
FIG. 9 shows the luminance information of red, green and blue before correction and the calculated phase information. The luminance information is also disturbed, and the phase information is uneven even though the plane is measured.

このようにして、赤、緑、青の輝度補正を用いることで，より精度の高い位相情報が得られた。 FIG. 10 shows the corrected red, green, and blue luminance information and the calculated phase information. The measured object 40 is a flat plate in this case, and is corrected to an appropriate level so that the luminance information is substantially sinusoidal and the phase information is substantially flat.

In this way, more accurate phase information was obtained by using red, green, and blue luminance corrections.

  As described above, FIG. 11 shows the evaluation of the variation in the measured value of the phase information in the reference plane measurement. Evaluation was performed under the conditions that the camera resolution was 50 [μm / px], the tilt between the camera optical axis and the projector optical axis was about 40 [deg], and the projected sine wave pattern width was one cycle of about 3 [mm]. .

  Photographing was performed in advance under the same conditions, and conversion parameters were determined in order to correct red, green, and blue luminance information as described above. Based on the corrected phase information, the reference plane was measured and the distance value in the depth direction was evaluated. As a result, the variation in the measured value was standard deviation σ = 23 [μm], and it can be proved that it was corrected appropriately.

DESCRIPTION OF SYMBOLS 1 Three-dimensional measuring apparatus 20 Irradiation apparatus 30 Imaging apparatus 40 Measurement object 50 Control apparatus

Claims (7)

Irradiation means for projecting light component patterns of red, green, and blue whose phase is shifted by 2π / 3 at the same period to the measurement object,
Imaging means for imaging reflected light from the measurement object;
The reflected light at each coordinate of the image data imaged by the imaging means is decomposed into the red, green, and blue light component patterns, and the luminance data of the red, green, and blue light component patterns are calculated, In addition, the above luminance data is distributed at equal intervals in a circle on a plane parallel to red + green + blue = 0 in a three-dimensional space of red, green, and blue so that the sum of the above becomes a constant value. The correction parameter is calculated so that the luminance data of the light component pattern of red, green, and blue captured by the imaging unit is corrected based on the correction parameter, and the phase information of the measurement object is calculated. And having a calculation means for calculating the information of the three-dimensional shape,
The luminance data calculation means extracts representative values of the luminance data of the red, green, and blue light component patterns at each coordinate obtained by decomposing the image data picked up by the image pickup means. The plot points are set as plot point groups plotted in a three-dimensional space of red, green, and blue so that the sum of the luminance data of the red, green, and blue light component patterns is a constant value. The luminance data of the red, green, and blue light component patterns of the group is projectively transformed onto a plane parallel to red + green + blue = 0 in the three-dimensional space of red, green, and blue, and two-dimensional X, Perform coordinate transformation to Y coordinate, divide the plot point group distributed in the X and Y coordinates obtained by projective transformation into equal numbers in the circumferential direction, perform grouping, and centroid for each group And extract it as the representative value of the group. The correction parameters are calculated so that the representative values of the group are distributed at regular intervals in a circle centered on the origin of the XY coordinates, and each coordinate of image data captured using the correction parameters of the representative values is calculated. Correcting the luminance data of the light component pattern of red, green, and blue, and calculating the phase information of the measurement object,
The calculation of the correction parameter is obtained by projecting a color pattern onto a white plane and decomposing the image data captured by the imaging unit in order to correct the white balance of the irradiation unit and the spectral characteristics of the imaging unit. In addition, the luminance data of the light component pattern of red, green, and blue at each coordinate is plotted as a plot point group plotted in a three-dimensional space of red, green, and blue. The luminance data of the red, green, and blue light component patterns is projectively transformed onto a plane parallel to red + blue + green = 0 in the three-dimensional space of red, green, and blue, and the two-dimensional X and Y coordinates. And the representative value of the luminance data is extracted, and the plot point group distributed to the X and Y coordinates obtained by projective conversion of the luminance data is equal in the circumferential direction. Split into guru The center of gravity is obtained for each group, extracted as a representative value of the group, and the representative value of the group is corrected so as to be distributed at equal intervals in a circle centered on the origin of the XY coordinates. A three-dimensional shape measuring apparatus characterized by calculating parameters. The three-dimensional shape measuring apparatus according to claim 1, wherein imaging of reflected light from the measurement object is imaging means for intermittently imaging the red, green, and blue light component patterns. 3. The three-dimensional shape measuring apparatus according to claim 1, wherein imaging of reflected light from the measurement object is an imaging unit that continuously images the light component pattern of red, green, and blue. The three-dimensional shape measuring apparatus according to claim 1, wherein the imaging unit is a color camera. The three-dimensional shape measuring apparatus according to claim 1, wherein the irradiation unit is a strobe light emitter. The three-dimensional shape measuring apparatus according to any one of claims 1 to 4, wherein the irradiating means is a continuous lighting lamp light emitter. The three-dimensional shape measurement apparatus according to claim 1, wherein the measurement object is a part of a human body.

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